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/*
* Copyright © 2017 Keith Packard <keithp@keithp.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
*/
package org.altusmetrum.altoslib_12;
import java.io.*;
import java.util.concurrent.*;
public class AltosAccelCal implements Runnable {
AltosLink link;
AltosAccelCalListener listener;
boolean remote;
boolean close_on_exit;
double frequency;
String callsign;
Thread accel_thread;
AltosConfigData config_data;
public static final int phase_antenna_up = 0;
public static final int phase_antenna_down = 1;
void start_link() throws InterruptedException, TimeoutException {
if (remote) {
link.set_radio_frequency(frequency);
link.set_callsign(callsign);
link.start_remote();
} else
link.flush_input();
}
boolean stop_link() throws InterruptedException, TimeoutException {
if (remote)
link.stop_remote();
return link.reply_abort;
}
public void set_frequency(double in_frequency) {
frequency = in_frequency;
link.abort_reply();
}
public void set_callsign(String in_callsign) {
callsign = in_callsign;
link.abort_reply();
}
public void abort() throws InterruptedException {
while (accel_thread.isAlive()) {
accel_thread.interrupt();
link.abort_reply();
Thread.sleep(100);
}
accel_thread.join();
}
static private final String press_msg = "press a key...";
private Semaphore ui_signal_semaphore;
private boolean ui_signal_reply;
public void signal(boolean reply) {
System.out.printf("Signal cal semaphore %b\n", reply);
ui_signal_reply = reply;
ui_signal_semaphore.release();
}
private boolean wait_signal() throws InterruptedException {
System.out.printf("\twait for cal signal...\n");
ui_signal_semaphore.acquire();
System.out.printf("\tgot cal signal %b\n", ui_signal_reply);
return ui_signal_reply;
}
private boolean wait_press(int timeout) throws InterruptedException {
for (;;) {
String line = link.get_reply(timeout);
if (line == null) {
System.out.printf("get_reply timeout\n");
return false;
}
System.out.printf("got line %s\n", line);
if (line.contains(press_msg))
return true;
if (line.contains("Invalid"))
return false;
if (line.contains("Syntax"))
return false;
if (line.contains("Calibrating"))
listener.message(this, line);
}
}
static final int cal_timeout = 20 * 1000;
public void run() {
System.out.printf("start accel cal procedure\n");
try {
AltosConfigData new_config = null;
try {
start_link();
config_data = link.config_data();
/* set back to antenna up for calibration */
if (config_data.pad_orientation != 0)
link.printf("c o 0\n");
/* Start calibration */
try {
System.out.printf("*** start cal\n");
link.set_match(press_msg);
link.printf("c a 0\n");
System.out.printf("*** wait press\n");
if (!wait_press(cal_timeout))
throw new TimeoutException("timeout");
System.out.printf("*** set_phase antenna_up\n");
listener.set_phase(this, phase_antenna_up);
System.out.printf("*** wait_signal\n");
if (!wait_signal())
throw new InterruptedException("aborted");
link.set_match(press_msg);
System.out.printf("*** send newline\n");
link.printf("\n");
System.out.printf("*** wait press\n");
if (!wait_press(cal_timeout))
throw new TimeoutException("timeout");
System.out.printf("***set_phase antenna_down\n");
listener.set_phase(this, phase_antenna_down);
System.out.printf("*** wait_signal\n");
if (!wait_signal())
throw new InterruptedException("aborted");
System.out.printf("*** send newline and version command\n");
link.printf("\nv\n");
} catch (TimeoutException e) {
throw e;
} catch (InterruptedException e) {
throw e;
}
link.set_match(null);
boolean worked = true;
for (;;) {
String line = link.get_reply(cal_timeout);
if (line == null)
throw new TimeoutException();
System.out.printf("*** waiting for finish: %s\n", line);
if (line.contains("Invalid"))
worked = false;
if (line.contains("software-version"))
break;
if (line.contains("Calibrating"))
listener.message(this, line);
}
System.out.printf("*** worked: %b\n", worked);
if (worked)
new_config = new AltosConfigData(link);
} finally {
int plus = config_data.accel_cal_plus(config_data.pad_orientation);
int minus = config_data.accel_cal_minus(config_data.pad_orientation);
System.out.printf("Restore orientation %d +g %d -g %d\n",
config_data.pad_orientation,
plus, minus);
if (config_data.pad_orientation != AltosLib.MISSING)
link.printf("c o %d\n", config_data.pad_orientation);
if (plus != AltosLib.MISSING && minus != AltosLib.MISSING)
link.printf("c a %d %d\n", plus, minus);
link.flush_output();
stop_link();
}
if (new_config != null) {
int plus = new_config.accel_cal_plus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP);
int minus = new_config.accel_cal_minus(AltosLib.AO_PAD_ORIENTATION_ANTENNA_UP);
System.out.printf("*** +1g %d -1g %d\n", plus, minus);
listener.cal_done(this, plus, minus);
if (!wait_signal())
throw new InterruptedException("aborted");
} else
listener.error(this, "Calibration failed");
} catch (TimeoutException te) {
System.out.printf("timeout");
listener.error(this, "timeout");
} catch (InterruptedException ie) {
System.out.printf("interrupted\n");
listener.error(this, "interrupted");
}
}
public void start() {
accel_thread = new Thread(this);
listener.set_thread(this, accel_thread);
accel_thread.start();
}
public AltosAccelCal(AltosLink link, AltosAccelCalListener listener) {
this.link = link;
this.listener = listener;
ui_signal_semaphore = new Semaphore(0);
}
}
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